├── .gitignore ├── README.md ├── SLAM ├── Calibration │ └── PARAconfig.yaml └── VOC │ └── ORBvoc.bin ├── app ├── .gitignore ├── CMakeLists.txt ├── build.gradle ├── lib │ └── commons-math3-3.6.1.jar └── src │ └── main │ ├── AndroidManifest.xml │ ├── cpp │ ├── Camera.cpp │ ├── Camera.h │ ├── Eigen │ │ └── eigen-3.4.0 │ │ │ ├── .gitignore │ │ │ ├── .gitlab-ci.yml │ │ │ ├── .hgeol │ │ │ ├── CMakeLists.txt │ │ │ ├── COPYING.APACHE │ │ │ ├── COPYING.BSD │ │ │ ├── COPYING.GPL │ │ │ ├── COPYING.LGPL │ │ │ ├── COPYING.MINPACK │ │ │ ├── COPYING.MPL2 │ │ │ ├── COPYING.README │ │ │ ├── CTestConfig.cmake │ │ │ ├── CTestCustom.cmake.in │ │ │ ├── INSTALL │ │ │ ├── README.md │ │ │ ├── eigen3.pc.in │ │ │ └── signature_of_eigen3_matrix_library │ ├── Frame.cpp │ ├── Frame.h │ ├── Marker.cpp │ ├── Marker.h │ ├── ORB │ │ ├── Thirdparty │ │ │ ├── DBoW2 │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── DBoW2 │ │ │ │ │ ├── BowVector.cpp │ │ │ │ │ ├── BowVector.h │ │ │ │ │ ├── FClass.h │ │ │ │ │ ├── FORB.cpp │ │ │ │ │ ├── FORB.h │ │ │ │ │ ├── FeatureVector.cpp │ │ │ │ │ ├── FeatureVector.h │ │ │ │ │ ├── ScoringObject.cpp │ │ │ │ │ ├── ScoringObject.h │ │ │ │ │ ├── TemplatedVocabulary.h │ │ │ │ │ └── TemplatedVocabulary.h~ │ │ │ │ ├── DUtils │ │ │ │ │ ├── Random.cpp │ │ │ │ │ ├── Random.h │ │ │ │ │ ├── Timestamp.cpp │ │ │ │ │ └── Timestamp.h │ │ │ │ └── README.txt │ │ │ └── g2o │ │ │ │ └── g2o │ │ │ │ ├── core │ │ │ │ ├── base_binary_edge.h │ │ │ │ ├── base_binary_edge.hpp │ │ │ │ ├── base_edge.h │ │ │ │ ├── base_multi_edge.h │ │ │ │ ├── base_multi_edge.hpp │ │ │ │ ├── base_unary_edge.h │ │ │ │ ├── base_unary_edge.hpp │ │ │ │ ├── base_vertex.h │ │ │ │ ├── base_vertex.hpp │ │ │ │ ├── batch_stats.cpp │ │ │ │ ├── batch_stats.h │ │ │ │ ├── block_solver.h │ │ │ │ ├── block_solver.hpp │ │ │ │ ├── cache.cpp │ │ │ │ ├── cache.h │ │ │ │ ├── creators.h │ │ │ │ ├── eigen_types.h │ │ │ │ ├── estimate_propagator.cpp │ │ │ │ ├── estimate_propagator.h │ │ │ │ ├── factory.cpp │ │ │ │ ├── factory.h │ │ │ │ ├── hyper_dijkstra.cpp │ │ │ │ ├── hyper_dijkstra.h │ │ │ │ ├── hyper_graph.cpp │ │ │ │ ├── hyper_graph.h │ │ │ │ ├── hyper_graph_action.cpp │ │ │ │ ├── hyper_graph_action.h │ │ │ │ ├── jacobian_workspace.cpp │ │ │ │ ├── jacobian_workspace.h │ │ │ │ ├── linear_solver.h │ │ │ │ ├── marginal_covariance_cholesky.cpp │ │ │ │ ├── marginal_covariance_cholesky.h │ │ │ │ ├── matrix_operations.h │ │ │ │ ├── matrix_structure.cpp │ │ │ │ ├── matrix_structure.h │ │ │ │ ├── openmp_mutex.h │ │ │ │ ├── optimizable_graph.cpp │ │ │ │ ├── optimizable_graph.h │ │ │ │ ├── optimization_algorithm.cpp │ │ │ │ ├── optimization_algorithm.h │ │ │ │ ├── optimization_algorithm_dogleg.cpp │ │ │ │ ├── optimization_algorithm_dogleg.h │ │ │ │ ├── optimization_algorithm_factory.cpp │ │ │ │ ├── optimization_algorithm_factory.h │ │ │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ │ │ ├── optimization_algorithm_gauss_newton.h │ │ │ │ ├── optimization_algorithm_levenberg.cpp │ │ │ │ ├── optimization_algorithm_levenberg.h │ │ │ │ ├── optimization_algorithm_property.h │ │ │ │ ├── optimization_algorithm_with_hessian.cpp │ │ │ │ ├── optimization_algorithm_with_hessian.h │ │ │ │ ├── parameter.cpp │ │ │ │ ├── parameter.h │ │ │ │ ├── parameter_container.cpp │ │ │ │ ├── parameter_container.h │ │ │ │ ├── robust_kernel.cpp │ │ │ │ ├── robust_kernel.h │ │ │ │ ├── robust_kernel_factory.cpp │ │ │ │ ├── robust_kernel_factory.h │ │ │ │ ├── robust_kernel_impl.cpp │ │ │ │ ├── robust_kernel_impl.h │ │ │ │ ├── solver.cpp │ │ │ │ ├── solver.h │ │ │ │ ├── sparse_block_matrix.h │ │ │ │ ├── sparse_block_matrix.hpp │ │ │ │ ├── sparse_block_matrix_ccs.h │ │ │ │ ├── sparse_block_matrix_diagonal.h │ │ │ │ ├── sparse_block_matrix_test.cpp │ │ │ │ ├── sparse_optimizer.cpp │ │ │ │ └── sparse_optimizer.h │ │ │ │ ├── solvers │ │ │ │ ├── linear_solver_dense.h │ │ │ │ └── linear_solver_eigen.h │ │ │ │ ├── stuff │ │ │ │ ├── color_macros.h │ │ │ │ ├── macros.h │ │ │ │ ├── misc.h │ │ │ │ ├── os_specific.c │ │ │ │ ├── os_specific.h │ │ │ │ ├── property.cpp │ │ │ │ ├── property.h │ │ │ │ ├── string_tools.cpp │ │ │ │ ├── string_tools.h │ │ │ │ ├── timeutil.cpp │ │ │ │ └── timeutil.h │ │ │ │ └── types │ │ │ │ ├── se3_ops.h │ │ │ │ ├── se3_ops.hpp │ │ │ │ ├── se3mat.cpp │ │ │ │ ├── se3mat.h │ │ │ │ ├── se3quat.h │ │ │ │ ├── sim3.h │ │ │ │ ├── types_sba.cpp │ │ │ │ ├── types_sba.h │ │ │ │ ├── types_seven_dof_expmap.cpp │ │ │ │ ├── types_seven_dof_expmap.h │ │ │ │ ├── types_six_dof_expmap.cpp │ │ │ │ └── types_six_dof_expmap.h │ │ ├── include │ │ │ ├── Atlas.h │ │ │ ├── CameraModels │ │ │ │ ├── GeometricCamera.h │ │ │ │ ├── KannalaBrandt8.h │ │ │ │ └── Pinhole.h │ │ │ ├── Config.h │ │ │ ├── Converter.h │ │ │ ├── Frame.h │ │ │ ├── FrameDrawer.h │ │ │ ├── G2oTypes.h │ │ │ ├── GeometricTools.h │ │ │ ├── ImuTypes.h │ │ │ ├── KeyFrame.h │ │ │ ├── KeyFrameDatabase.h │ │ │ ├── LocalMapping.h │ │ │ ├── LoopClosing.h │ │ │ ├── MLPnPsolver.h │ │ │ ├── Map.h │ │ │ ├── MapDrawer.h │ │ │ ├── MapPoint.h │ │ │ ├── ORBVocabulary.h │ │ │ ├── ORBextractor.h │ │ │ ├── ORBmatcher.h │ │ │ ├── OptimizableTypes.h │ │ │ ├── Optimizer.h │ │ │ ├── SerializationUtils.h │ │ │ ├── Settings.h │ │ │ ├── Sim3Solver.h │ │ │ ├── System.h │ │ │ ├── Tracking.h │ │ │ ├── TwoViewReconstruction.h │ │ │ └── Viewer.h │ │ └── src │ │ │ ├── Atlas.cc │ │ │ ├── CameraModels │ │ │ ├── KannalaBrandt8.cpp │ │ │ └── Pinhole.cpp │ │ │ ├── Config.cc │ │ │ ├── Converter.cc │ │ │ ├── Frame.cc │ │ │ ├── FrameDrawer.cc │ │ │ ├── G2oTypes.cc │ │ │ ├── GeometricTools.cc │ │ │ ├── ImuTypes.cc │ │ │ ├── KeyFrame.cc │ │ │ ├── KeyFrameDatabase.cc │ │ │ ├── LocalMapping.cc │ │ │ ├── LoopClosing.cc │ │ │ ├── MLPnPsolver.cpp │ │ │ ├── Map.cc │ │ │ ├── MapDrawer.cc │ │ │ ├── MapPoint.cc │ │ │ ├── ORBextractor.cc │ │ │ ├── ORBmatcher.cc │ │ │ ├── OptimizableTypes.cpp │ │ │ ├── Optimizer.cc │ │ │ ├── Settings.cc │ │ │ ├── Sim3Solver.cc │ │ │ ├── System.cc │ │ │ ├── Tracking.cc │ │ │ ├── TwoViewReconstruction.cc │ │ │ └── Viewer.cc │ ├── Plane.cpp │ ├── Plane.h │ ├── Process.cpp │ ├── Process.h │ ├── boost │ │ └── boost-1_72_0 │ │ │ └── boost │ │ │ ├── align.hpp │ │ │ ├── aligned_storage.hpp │ │ │ ├── any.hpp │ │ │ ├── array.hpp │ │ │ ├── asio.hpp │ │ │ ├── assert.hpp │ │ │ ├── assign.hpp │ │ │ ├── atomic.hpp │ │ │ ├── beast.hpp │ │ │ ├── bimap.hpp │ │ │ ├── bind.hpp │ │ │ ├── blank.hpp │ │ │ ├── blank_fwd.hpp │ │ │ ├── call_traits.hpp │ │ │ ├── callable_traits.hpp │ │ │ ├── cast.hpp │ │ │ ├── cerrno.hpp │ │ │ ├── checked_delete.hpp │ │ │ ├── chrono.hpp │ │ │ ├── circular_buffer.hpp │ │ │ ├── circular_buffer_fwd.hpp │ │ │ ├── compressed_pair.hpp │ │ │ ├── compute.hpp │ │ │ ├── concept_archetype.hpp │ │ │ ├── concept_check.hpp │ │ │ ├── config.hpp │ │ │ ├── contract.hpp │ │ │ ├── contract_macro.hpp │ │ │ ├── convert.hpp │ │ │ ├── crc.hpp │ │ │ ├── cregex.hpp │ │ │ ├── cstdfloat.hpp │ │ │ ├── cstdint.hpp │ │ │ ├── cstdlib.hpp │ │ │ ├── current_function.hpp │ │ │ ├── cxx11_char_types.hpp │ │ │ ├── date_time.hpp │ │ │ ├── dll.hpp │ │ │ ├── dynamic_bitset.hpp │ │ │ ├── dynamic_bitset_fwd.hpp │ │ │ ├── enable_shared_from_this.hpp │ │ │ ├── endian.hpp │ │ │ ├── exception_ptr.hpp │ │ │ ├── filesystem.hpp │ │ │ ├── flyweight.hpp │ │ │ ├── foreach.hpp │ │ │ ├── foreach_fwd.hpp │ │ │ ├── format.hpp │ │ │ ├── function.hpp │ │ │ ├── function_equal.hpp │ │ │ ├── function_output_iterator.hpp │ │ │ ├── functional.hpp │ │ │ ├── generator_iterator.hpp │ │ │ ├── geometry.hpp │ │ │ ├── get_pointer.hpp │ │ │ ├── gil.hpp │ │ │ ├── hana.hpp │ │ │ ├── histogram.hpp │ │ │ ├── hof.hpp │ │ │ ├── implicit_cast.hpp │ │ │ ├── indirect_reference.hpp │ │ │ ├── integer.hpp │ │ │ ├── integer_fwd.hpp │ │ │ ├── integer_traits.hpp │ │ │ ├── intrusive_ptr.hpp │ │ │ ├── io_fwd.hpp │ │ │ ├── is_placeholder.hpp │ │ │ ├── iterator.hpp │ │ │ ├── iterator_adaptors.hpp │ │ │ ├── lexical_cast.hpp │ │ │ ├── limits.hpp │ │ │ ├── local_function.hpp │ │ │ ├── locale.hpp │ │ │ ├── make_default.hpp │ │ │ ├── make_shared.hpp │ │ │ ├── make_unique.hpp │ │ │ ├── math_fwd.hpp │ │ │ ├── mem_fn.hpp │ │ │ ├── memory_order.hpp │ │ │ ├── metaparse.hpp │ │ │ ├── mp11.hpp │ │ │ ├── mpi.hpp │ │ │ ├── multi_array.hpp │ │ │ ├── multi_index_container.hpp │ │ │ ├── multi_index_container_fwd.hpp │ │ │ ├── next_prior.hpp │ │ │ ├── non_type.hpp │ │ │ ├── noncopyable.hpp │ │ │ ├── nondet_random.hpp │ │ │ ├── none.hpp │ │ │ ├── none_t.hpp │ │ │ ├── operators.hpp │ │ │ ├── operators_v1.hpp │ │ │ ├── optional.hpp │ │ │ ├── outcome.hpp │ │ │ ├── parameter.hpp │ │ │ ├── phoenix.hpp │ │ │ ├── pointee.hpp │ │ │ ├── pointer_cast.hpp │ │ │ ├── pointer_to_other.hpp │ │ │ ├── polymorphic_cast.hpp │ │ │ ├── polymorphic_pointer_cast.hpp │ │ │ ├── predef.h │ │ │ ├── preprocessor.hpp │ │ │ ├── process.hpp │ │ │ ├── program_options.hpp │ │ │ ├── random.hpp │ │ │ ├── range.hpp │ │ │ ├── ratio.hpp │ │ │ ├── rational.hpp │ │ │ ├── ref.hpp │ │ │ ├── regex.h │ │ │ ├── regex.hpp │ │ │ ├── regex_fwd.hpp │ │ │ ├── scope_exit.hpp │ │ │ ├── scoped_array.hpp │ │ │ ├── scoped_ptr.hpp │ │ │ ├── shared_array.hpp │ │ │ ├── shared_container_iterator.hpp │ │ │ ├── shared_ptr.hpp │ │ │ ├── signals2.hpp │ │ │ ├── smart_ptr.hpp │ │ │ ├── spirit.hpp │ │ │ ├── stacktrace.hpp │ │ │ ├── static_assert.hpp │ │ │ ├── swap.hpp │ │ │ ├── thread.hpp │ │ │ ├── throw_exception.hpp │ │ │ ├── timer.hpp │ │ │ ├── token_functions.hpp │ │ │ ├── token_iterator.hpp │ │ │ ├── tokenizer.hpp │ │ │ ├── type.hpp │ │ │ ├── type_index.hpp │ │ │ ├── type_traits.hpp │ │ │ ├── unordered_map.hpp │ │ │ ├── unordered_set.hpp │ │ │ ├── utility.hpp │ │ │ ├── variant.hpp │ │ │ ├── version.hpp │ │ │ ├── visit_each.hpp │ │ │ ├── wave.hpp │ │ │ └── weak_ptr.hpp │ ├── native-lib.cpp │ ├── opencv │ │ └── opencv-4.5.5 │ │ │ └── include │ │ │ └── opencv2 │ │ │ ├── calib3d.hpp │ │ │ ├── core.hpp │ │ │ ├── cvconfig.h │ │ │ ├── dnn.hpp │ │ │ ├── features2d.hpp │ │ │ ├── flann.hpp │ │ │ ├── gapi.hpp │ │ │ ├── highgui.hpp │ │ │ ├── imgcodecs.hpp │ │ │ ├── imgproc.hpp │ │ │ ├── ml.hpp │ │ │ ├── objdetect.hpp │ │ │ ├── opencv.hpp │ │ │ ├── opencv_modules.hpp │ │ │ ├── photo.hpp │ │ │ ├── stitching.hpp │ │ │ ├── video.hpp │ │ │ └── videoio.hpp │ └── openssl │ │ └── openssl-1.0.2s │ │ └── openssl │ │ ├── aes.h │ │ ├── asn1.h │ │ ├── asn1_mac.h │ │ ├── asn1t.h │ │ ├── bio.h │ │ ├── blowfish.h │ │ ├── bn.h │ │ ├── buffer.h │ │ ├── camellia.h │ │ ├── cast.h │ │ ├── cmac.h │ │ ├── cms.h │ │ ├── comp.h │ │ ├── conf.h │ │ ├── conf_api.h │ │ ├── crypto.h │ │ ├── des.h │ │ ├── des_old.h │ │ ├── dh.h │ │ ├── dsa.h │ │ ├── dso.h │ │ ├── dtls1.h │ │ ├── e_os2.h │ │ ├── ebcdic.h │ │ ├── ec.h │ │ ├── ecdh.h │ │ ├── ecdsa.h │ │ ├── engine.h │ │ ├── err.h │ │ ├── evp.h │ │ ├── hmac.h │ │ ├── idea.h │ │ ├── krb5_asn.h │ │ ├── kssl.h │ │ ├── lhash.h │ │ ├── md4.h │ │ ├── md5.h │ │ ├── mdc2.h │ │ ├── modes.h │ │ ├── obj_mac.h │ │ ├── objects.h │ │ ├── ocsp.h │ │ ├── opensslconf.h │ │ ├── opensslv.h │ │ ├── ossl_typ.h │ │ ├── pem.h │ │ ├── pem2.h │ │ ├── pkcs12.h │ │ ├── pkcs7.h │ │ ├── pqueue.h │ │ ├── rand.h │ │ ├── rc2.h │ │ ├── rc4.h │ │ ├── ripemd.h │ │ ├── rsa.h │ │ ├── safestack.h │ │ ├── seed.h │ │ ├── sha.h │ │ ├── srp.h │ │ ├── srtp.h │ │ ├── ssl.h │ │ ├── ssl2.h │ │ ├── ssl23.h │ │ ├── ssl3.h │ │ ├── stack.h │ │ ├── symhacks.h │ │ ├── tls1.h │ │ ├── ts.h │ │ ├── txt_db.h │ │ ├── ui.h │ │ ├── ui_compat.h │ │ ├── whrlpool.h │ │ ├── x509.h │ │ ├── x509_vfy.h │ │ └── x509v3.h │ ├── java │ └── com │ │ └── vslam │ │ └── orbslam3 │ │ └── vslamactivity │ │ ├── MatrixState.java │ │ ├── MyRender.java │ │ ├── VslamActivity.java │ │ ├── obj │ │ ├── Ball.java │ │ └── Cube.java │ │ └── util │ │ ├── LoggerConfig.java │ │ ├── ShaderHelper.java │ │ ├── TextResourceReader.java │ │ └── TextureHelper.java │ ├── jniLibs │ ├── arm64-v8a │ │ ├── libboost_1_72_0 │ │ │ ├── libboost_atomic.a │ │ │ ├── libboost_chrono.a │ │ │ ├── libboost_container.a │ │ │ ├── libboost_context.a │ │ │ ├── libboost_contract.a │ │ │ ├── libboost_coroutine.a │ │ │ ├── libboost_date_time.a │ │ │ ├── libboost_exception.a │ │ │ ├── libboost_filesystem.a │ │ │ ├── libboost_graph.a │ │ │ ├── libboost_iostreams.a │ │ │ ├── libboost_serialization.a │ │ │ └── libboost_system.a │ │ ├── libomp.a │ │ ├── libomp.so │ │ ├── libopencv_java4.so │ │ └── libopenssl-1.0.2s │ │ │ ├── libcrypto.a │ │ │ ├── libcrypto.so │ │ │ ├── libssl.a │ │ │ └── libssl.so │ ├── armeabi-v7a │ │ ├── libboost_1_72_0 │ │ │ ├── libboost_atomic.a │ │ │ ├── libboost_serialization.a │ │ │ └── libboost_system.a │ │ ├── libomp.a │ │ ├── libomp.so │ │ ├── libopencv_java4.so │ │ └── libopenssl-1.0.2s │ │ │ ├── libcrypto.a │ │ │ ├── libcrypto.so │ │ │ ├── libssl.a │ │ │ └── libssl.so │ ├── x86 │ │ ├── libboost_1_72_0 │ │ │ ├── libboost_atomic.a │ │ │ ├── libboost_serialization.a │ │ │ └── libboost_system.a │ │ ├── libomp.a │ │ ├── libomp.so │ │ └── libopenssl-1.0.2s │ │ │ ├── libcrypto.a │ │ │ ├── libcrypto.so │ │ │ ├── libssl.a │ │ │ └── libssl.so │ └── x86_64 │ │ ├── libboost_1_72_0 │ │ ├── libboost_atomic.a │ │ ├── libboost_serialization.a │ │ └── libboost_system.a │ │ ├── libomp.a │ │ ├── libomp.so │ │ └── libopenssl-1.0.2s │ │ ├── libcrypto.a │ │ ├── libcrypto.so │ │ ├── libssl.a │ │ └── libssl.so │ └── res │ ├── drawable │ └── orbslam3.png │ ├── layout │ └── activity_vslam_activity.xml │ ├── mipmap-hdpi │ ├── earth.png │ ├── ic_launcher.png │ ├── ic_launcher_round.png │ └── logo.png │ ├── mipmap-mdpi │ ├── ic_launcher.png │ └── ic_launcher_round.png │ ├── mipmap-xhdpi │ ├── ic_launcher.png │ └── ic_launcher_round.png │ ├── mipmap-xxhdpi │ ├── ic_launcher.png │ └── ic_launcher_round.png │ ├── mipmap-xxxhdpi │ ├── ic_launcher.png │ └── ic_launcher_round.png │ ├── raw │ ├── fragment_shader_ball.glsl │ ├── simple_fragment_shader.glsl │ ├── simple_vertex_shader.glsl │ └── vertex_shader_ball.glsl │ └── values │ ├── colors.xml │ ├── strings.xml │ └── styles.xml ├── gradle.properties ├── gradle └── wrappeer │ ├── gradle-wrapper.jar │ └── gradle-wrapper.properties ├── gradlew ├── gradlew.bat ├── local.properties ├── opencvLibrary └── 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